osi-visualizer/include/osiparser.h at 728d8b34d477d29f2ff55dfd9f74f1f787842f5a · OpenSimulationInterface/osi-visualizer · GitHub

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///
/// @file
/// @copyright Copyright (C) 2017, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
///
/// @brief
///

#ifndef OSIPARSER_H
#define OSIPARSER_H
#include "osi_sensordata.pb.h"
#include "global.h"
#include "types.h"
#include "mainwindow.h"
#include <QObject>
#include <QVector3D>
#include <QList>


class OsiParser : public QObject
{
    Q_OBJECT

    public:
        OsiParser(const AppConfig& config);

        void CancelSaveOSIMessage();

        signals:
            void MessageParsed(const Message& message,
                               const LaneMessage& laneMessage,
							   const PointMessage& pointMessage);
            void EnableExport(bool enable);
            void SaveOSIMsgOverflow(int osiMsgSaveThreshold);

    public slots:
        void ExportOsiMessage();
        void ParseReceivedSDMessage(const osi3::SensorData& sd);
        void ParseReceivedSVMessage(const osi3::SensorView& sv);

    private:

        template <typename T> void LocalMonitor(const T& data);

        void ParseGroundtruth(const osi3::GroundTruth& groundTruth,
                              Message& objectMessage,
                              LaneMessage& laneMessage);

        void ParseGroundtruthMovingObject(Message& objectMessage,
                                          const osi3::BaseMoving& baseObject,
                                          const ObjectType objectType,
                                          const QString& idStr);

        void ParseGroundtruthStationaryObject(Message& objectMessage,
                                              const osi3::BaseStationary& baseObject,
                                              const ObjectType objectType,
                                              const QString& idStr);

        void ParseSensorData(const osi3::SensorData& sensorData,
                             Message& objectMessage,
                             LaneMessage& laneMessage,
							 PointMessage& pointMessage);

        void ParseSensorDataMovingObject(Message& objectMessage,
                                         const osi3::BaseMoving& baseObject,
                                         const ObjectType objectType,
                                         const QString& idStr);

        void ParseSensorDataStationaryObject(Message& objectMessage,
                                             const osi3::BaseStationary& baseObject,
                                             const ObjectType objectType,
                                             const QString& idStr);

        ObjectType GetObjectTypeFromOsiObjectType(const osi3::MovingObject_VehicleClassification_Type& vehicleType);
        ObjectType GetObjectTypeFromOsiObjectType(const osi3::MovingObject_Type& objectType);
        ObjectType GetObjectTypeFromOsiObjectType(const osi3::StationaryObject_Classification_Type& objectType);
        ObjectType GetObjectTypeFromOsiObjectType(const osi3::TrafficSign_MainSign_Classification_Type& objectType);
        ObjectType GetObjectTypeFromOsiObjectType(const osi3::TrafficLight_Classification_Mode& objectType);


        bool isFirstMessage_;

        bool startSaveOSIMsg_;
        std::string osiMsgString_;
        int osiMsgNumber_;

        const AppConfig& config_;

};

#endif // OSIPARSER_H